0,0 → 1,2051 |
CCS PCM C Compiler, Version 3.221, 27853 26-IV-05 21:32 |
|
Filename: D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\turn_L\tank.LST |
|
ROM used: 1705 words (42%) |
Largest free fragment is 2048 |
RAM used: 87 (50%) at main() level |
98 (56%) worst case |
Stack: 4 worst case (3 in main + 1 for interrupts) |
|
* |
0000: MOVLW 00 |
0001: MOVWF 0A |
0002: GOTO 4E8 |
0003: NOP |
0004: MOVWF 7F |
0005: SWAPF 03,W |
0006: CLRF 03 |
0007: MOVWF 21 |
0008: MOVF 7F,W |
0009: MOVWF 20 |
000A: MOVF 0A,W |
000B: MOVWF 28 |
000C: CLRF 0A |
000D: SWAPF 20,F |
000E: MOVF 04,W |
000F: MOVWF 22 |
0010: MOVF 77,W |
0011: MOVWF 23 |
0012: MOVF 78,W |
0013: MOVWF 24 |
0014: MOVF 79,W |
0015: MOVWF 25 |
0016: MOVF 7A,W |
0017: MOVWF 26 |
0018: MOVF 7B,W |
0019: MOVWF 27 |
001A: BCF 03.7 |
001B: BCF 03.5 |
001C: MOVLW 8C |
001D: MOVWF 04 |
001E: BTFSS 00.1 |
001F: GOTO 022 |
0020: BTFSC 0C.1 |
0021: GOTO 035 |
0022: MOVF 22,W |
0023: MOVWF 04 |
0024: MOVF 23,W |
0025: MOVWF 77 |
0026: MOVF 24,W |
0027: MOVWF 78 |
0028: MOVF 25,W |
0029: MOVWF 79 |
002A: MOVF 26,W |
002B: MOVWF 7A |
002C: MOVF 27,W |
002D: MOVWF 7B |
002E: MOVF 28,W |
002F: MOVWF 0A |
0030: SWAPF 21,W |
0031: MOVWF 03 |
0032: SWAPF 7F,F |
0033: SWAPF 7F,W |
0034: RETFIE |
0035: BCF 0A.3 |
0036: GOTO 037 |
.................... #include "tank.h" |
.................... #include <16F88.h> |
.................... //////// Standard Header file for the PIC16F88 device //////////////// |
.................... #device PIC16F88 |
.................... #list |
.................... |
.................... #device adc=8 |
.................... #fuses NOWDT,INTRC_IO, NOPUT, MCLR, NOBROWNOUT, NOLVP, NOCPD, NOWRT, NODEBUG, NOPROTECT, NOFCMEN, NOIESO |
.................... #use delay(clock=4000000) |
* |
0047: MOVLW 12 |
0048: BSF 03.5 |
0049: SUBWF 22,F |
004A: BTFSS 03.0 |
004B: GOTO 05A |
004C: MOVLW A2 |
004D: MOVWF 04 |
004E: MOVLW FC |
004F: ANDWF 00,F |
0050: BCF 03.0 |
0051: RRF 00,F |
0052: RRF 00,F |
0053: MOVF 00,W |
0054: BTFSC 03.2 |
0055: GOTO 05A |
0056: GOTO 058 |
0057: NOP |
0058: DECFSZ 00,F |
0059: GOTO 057 |
005A: BCF 03.5 |
005B: RETLW 00 |
* |
0088: MOVLW 75 |
0089: MOVWF 04 |
008A: MOVF 00,W |
008B: BTFSC 03.2 |
008C: GOTO 09C |
008D: MOVLW 01 |
008E: MOVWF 78 |
008F: CLRF 77 |
0090: DECFSZ 77,F |
0091: GOTO 090 |
0092: DECFSZ 78,F |
0093: GOTO 08F |
0094: MOVLW 4A |
0095: MOVWF 77 |
0096: DECFSZ 77,F |
0097: GOTO 096 |
0098: NOP |
0099: NOP |
009A: DECFSZ 00,F |
009B: GOTO 08D |
009C: RETLW 00 |
.................... |
.................... |
.................... |
.................... #define DEBUG |
.................... |
.................... #define TXo PIN_A3 // To the transmitter modulator |
.................... #include "AX25.c" // podprogram pro prenos telemetrie |
.................... #list |
.................... |
.................... |
.................... unsigned int8 sensors; // pomocna promenna pro cteni cidel na caru |
.................... unsigned int8 line; // na ktere strane byla detekovana cara |
.................... unsigned int8 speed; // rychlost zataceni |
.................... unsigned int8 rovinka; // pocitadlo pro zjisteni rovneho useku |
.................... unsigned int8 last; // kde byla cara, kdyz byly minule cidla mimo |
.................... unsigned int8 movement; // obsahuje aktualni smer zataceni |
.................... unsigned int8 dira; // pocita dobu po kterou je ztracena cara |
.................... |
.................... // Konstanty pro dynamiku pohybu |
.................... #define T_DIRA 87 // po jakem case zataceni se detekuje dira |
.................... #define INC_SPEED 1 // prirustek rychlosti v jednom kroku |
.................... #define FW_POMALU 230 // trochu mimo caru vnitrni pas |
.................... #define FW_ZATACKA 200 // rychlost vnejsiho kola pri zataceni |
.................... #define FW_STREDNE 240 // trochu mimo caru vnejsi pas |
.................... #define COUVANI 600 // couvnuti zpet na caru, po detekci diry |
.................... #define PRES_DIRU 250 |
.................... #define MAX_ROVINKA (255-FW_STREDNE) |
.................... #define TRESHOLD 10 // rozhodovaci uroven komparatoru, 0xF = 0.75*Vdd |
.................... #define BUMPER_TRESHOLD 128 |
.................... #define CIK_CAK 30000 |
.................... #define T_CIHLA 50 // perioda detekce cihly |
.................... |
.................... //motory //Napred vypnout potom zapnout! |
.................... #define FR output_low(PIN_B5); output_high(PIN_B4) // Vpred |
.................... #define FL output_low(PIN_B7); output_high(PIN_B6) |
.................... #define BR output_low(PIN_B4); output_high(PIN_B5) // Vzad |
.................... #define BL output_low(PIN_B6); output_high(PIN_B7) |
.................... #define STOPR output_low(PIN_B4);output_low(PIN_B5) // Zastav |
.................... #define STOPL output_low(PIN_B6);output_low(PIN_B7) |
.................... |
.................... #define L 0b10 // left |
.................... #define R 0b01 // right |
.................... #define S 0b11 // straight |
.................... |
.................... //cidla |
.................... #define RSENSOR C2OUT // Senzory na caru |
.................... #define LSENSOR C1OUT |
.................... #define BUMPER PIN_A4 // Senzor na cihlu |
.................... |
.................... #define DIAG_SERVO PIN_B3 // Propojka pro diagnosticky mod |
.................... #define DIAG_SENSORS PIN_B2 // Propojka pro diagnosticky mod |
.................... |
.................... #DEFINE SOUND_HI PIN_A6 // komplementarni vystupy pro piezo pipak |
.................... #DEFINE SOUND_LO PIN_A7 |
.................... |
.................... char AXstring[40]; // Buffer pro prenos telemetrie |
.................... |
.................... // makro pro PWM |
.................... #define GO(motor, direction, power) if(get_timer0()<=power) \ |
.................... {direction##motor;} else {stop##motor;} |
.................... |
.................... #int_TIMER2 |
.................... void TIMER2_isr() |
.................... { |
.................... if (speed<255) speed+=INC_SPEED; |
* |
0037: INCFSZ 42,W |
0038: GOTO 03A |
0039: GOTO 03C |
003A: MOVLW 01 |
003B: ADDWF 42,F |
.................... if (rovinka<MAX_ROVINKA) rovinka++; |
003C: MOVF 43,W |
003D: SUBLW 0E |
003E: BTFSC 03.0 |
003F: INCF 43,F |
.................... if (dira<=T_DIRA) dira++; |
0040: MOVF 46,W |
0041: SUBLW 57 |
0042: BTFSC 03.0 |
0043: INCF 46,F |
.................... } |
.................... // Primitivni Pipani |
0044: BCF 0C.1 |
0045: BCF 0A.3 |
0046: GOTO 022 |
.................... void beep(unsigned int16 period, unsigned int16 length) |
.................... { |
.................... unsigned int16 nn; |
.................... |
.................... for(nn=length; nn>0; nn--) |
* |
005C: MOVF 7D,W |
005D: BSF 03.5 |
005E: MOVWF 21 |
005F: MOVF 7C,W |
0060: MOVWF 20 |
0061: MOVF 20,F |
0062: BTFSS 03.2 |
0063: GOTO 067 |
0064: MOVF 21,F |
0065: BTFSC 03.2 |
0066: GOTO 086 |
.................... { |
.................... output_high(SOUND_HI);output_low(SOUND_LO); |
0067: BCF 05.6 |
0068: BCF 03.5 |
0069: BSF 05.6 |
006A: BSF 03.5 |
006B: BCF 05.7 |
006C: BCF 03.5 |
006D: BCF 05.7 |
.................... delay_us(period); |
006E: MOVF 74,W |
006F: BSF 03.5 |
0070: MOVWF 22 |
0071: BCF 03.5 |
0072: CALL 047 |
.................... output_high(SOUND_LO);output_low(SOUND_HI); |
0073: BSF 03.5 |
0074: BCF 05.7 |
0075: BCF 03.5 |
0076: BSF 05.7 |
0077: BSF 03.5 |
0078: BCF 05.6 |
0079: BCF 03.5 |
007A: BCF 05.6 |
.................... delay_us(period); |
007B: MOVF 74,W |
007C: BSF 03.5 |
007D: MOVWF 22 |
007E: BCF 03.5 |
007F: CALL 047 |
.................... } |
0080: BSF 03.5 |
0081: MOVF 20,W |
0082: BTFSC 03.2 |
0083: DECF 21,F |
0084: DECF 20,F |
0085: GOTO 061 |
.................... } |
0086: BCF 03.5 |
0087: RETLW 00 |
.................... /******************************************************************************/ |
.................... void diagnostika() |
.................... { |
.................... unsigned int16 n; |
.................... |
.................... while (input(DIAG_SERVO)) // Propojka, ktera spousti diagnostiku |
.................... { |
* |
009D: BSF 03.5 |
009E: BSF 06.3 |
009F: BCF 03.5 |
00A0: BTFSS 06.3 |
00A1: GOTO 1C8 |
.................... for (n=500; n<800; n+=100) |
00A2: MOVLW 01 |
00A3: MOVWF 72 |
00A4: MOVLW F4 |
00A5: MOVWF 71 |
00A6: MOVF 72,W |
00A7: SUBLW 03 |
00A8: BTFSS 03.0 |
00A9: GOTO 0BE |
00AA: BTFSS 03.2 |
00AB: GOTO 0B0 |
00AC: MOVF 71,W |
00AD: SUBLW 1F |
00AE: BTFSS 03.0 |
00AF: GOTO 0BE |
.................... { |
.................... beep(n,n); //beep UP |
00B0: MOVF 72,W |
00B1: MOVWF 75 |
00B2: MOVF 71,W |
00B3: MOVWF 74 |
00B4: MOVF 72,W |
00B5: MOVWF 7D |
00B6: MOVF 71,W |
00B7: MOVWF 7C |
00B8: CALL 05C |
.................... }; |
00B9: MOVLW 64 |
00BA: ADDWF 71,F |
00BB: BTFSC 03.0 |
00BC: INCF 72,F |
00BD: GOTO 0A6 |
.................... Delay_ms(1000); |
00BE: MOVLW 04 |
00BF: MOVWF 73 |
00C0: MOVLW FA |
00C1: MOVWF 75 |
00C2: CALL 088 |
00C3: DECFSZ 73,F |
00C4: GOTO 0C0 |
.................... //zastav vse |
.................... STOPL; STOPR; |
00C5: BSF 03.5 |
00C6: BCF 06.6 |
00C7: BCF 03.5 |
00C8: BCF 06.6 |
00C9: BSF 03.5 |
00CA: BCF 06.7 |
00CB: BCF 03.5 |
00CC: BCF 06.7 |
00CD: BSF 03.5 |
00CE: BCF 06.4 |
00CF: BCF 03.5 |
00D0: BCF 06.4 |
00D1: BSF 03.5 |
00D2: BCF 06.5 |
00D3: BCF 03.5 |
00D4: BCF 06.5 |
.................... //pravy pas |
.................... FR; Delay_ms(1000); STOPR; Delay_ms(1000); |
00D5: BSF 03.5 |
00D6: BCF 06.5 |
00D7: BCF 03.5 |
00D8: BCF 06.5 |
00D9: BSF 03.5 |
00DA: BCF 06.4 |
00DB: BCF 03.5 |
00DC: BSF 06.4 |
00DD: MOVLW 04 |
00DE: MOVWF 73 |
00DF: MOVLW FA |
00E0: MOVWF 75 |
00E1: CALL 088 |
00E2: DECFSZ 73,F |
00E3: GOTO 0DF |
00E4: BSF 03.5 |
00E5: BCF 06.4 |
00E6: BCF 03.5 |
00E7: BCF 06.4 |
00E8: BSF 03.5 |
00E9: BCF 06.5 |
00EA: BCF 03.5 |
00EB: BCF 06.5 |
00EC: MOVLW 04 |
00ED: MOVWF 73 |
00EE: MOVLW FA |
00EF: MOVWF 75 |
00F0: CALL 088 |
00F1: DECFSZ 73,F |
00F2: GOTO 0EE |
.................... BR; Delay_ms(1000); STOPR; Delay_ms(1000); |
00F3: BSF 03.5 |
00F4: BCF 06.4 |
00F5: BCF 03.5 |
00F6: BCF 06.4 |
00F7: BSF 03.5 |
00F8: BCF 06.5 |
00F9: BCF 03.5 |
00FA: BSF 06.5 |
00FB: MOVLW 04 |
00FC: MOVWF 73 |
00FD: MOVLW FA |
00FE: MOVWF 75 |
00FF: CALL 088 |
0100: DECFSZ 73,F |
0101: GOTO 0FD |
0102: BSF 03.5 |
0103: BCF 06.4 |
0104: BCF 03.5 |
0105: BCF 06.4 |
0106: BSF 03.5 |
0107: BCF 06.5 |
0108: BCF 03.5 |
0109: BCF 06.5 |
010A: MOVLW 04 |
010B: MOVWF 73 |
010C: MOVLW FA |
010D: MOVWF 75 |
010E: CALL 088 |
010F: DECFSZ 73,F |
0110: GOTO 10C |
.................... Beep(880,100); Delay_ms(1000); |
0111: MOVLW 03 |
0112: MOVWF 75 |
0113: MOVLW 70 |
0114: MOVWF 74 |
0115: CLRF 7D |
0116: MOVLW 64 |
0117: MOVWF 7C |
0118: CALL 05C |
0119: MOVLW 04 |
011A: MOVWF 73 |
011B: MOVLW FA |
011C: MOVWF 75 |
011D: CALL 088 |
011E: DECFSZ 73,F |
011F: GOTO 11B |
.................... //levy pas |
.................... FL; Delay_ms(1000); STOPL; Delay_ms(1000); |
0120: BSF 03.5 |
0121: BCF 06.7 |
0122: BCF 03.5 |
0123: BCF 06.7 |
0124: BSF 03.5 |
0125: BCF 06.6 |
0126: BCF 03.5 |
0127: BSF 06.6 |
0128: MOVLW 04 |
0129: MOVWF 73 |
012A: MOVLW FA |
012B: MOVWF 75 |
012C: CALL 088 |
012D: DECFSZ 73,F |
012E: GOTO 12A |
012F: BSF 03.5 |
0130: BCF 06.6 |
0131: BCF 03.5 |
0132: BCF 06.6 |
0133: BSF 03.5 |
0134: BCF 06.7 |
0135: BCF 03.5 |
0136: BCF 06.7 |
0137: MOVLW 04 |
0138: MOVWF 73 |
0139: MOVLW FA |
013A: MOVWF 75 |
013B: CALL 088 |
013C: DECFSZ 73,F |
013D: GOTO 139 |
.................... BL; Delay_ms(1000); STOPL; Delay_ms(1000); |
013E: BSF 03.5 |
013F: BCF 06.6 |
0140: BCF 03.5 |
0141: BCF 06.6 |
0142: BSF 03.5 |
0143: BCF 06.7 |
0144: BCF 03.5 |
0145: BSF 06.7 |
0146: MOVLW 04 |
0147: MOVWF 73 |
0148: MOVLW FA |
0149: MOVWF 75 |
014A: CALL 088 |
014B: DECFSZ 73,F |
014C: GOTO 148 |
014D: BSF 03.5 |
014E: BCF 06.6 |
014F: BCF 03.5 |
0150: BCF 06.6 |
0151: BSF 03.5 |
0152: BCF 06.7 |
0153: BCF 03.5 |
0154: BCF 06.7 |
0155: MOVLW 04 |
0156: MOVWF 73 |
0157: MOVLW FA |
0158: MOVWF 75 |
0159: CALL 088 |
015A: DECFSZ 73,F |
015B: GOTO 157 |
.................... Beep(880,100); Delay_ms(1000); |
015C: MOVLW 03 |
015D: MOVWF 75 |
015E: MOVLW 70 |
015F: MOVWF 74 |
0160: CLRF 7D |
0161: MOVLW 64 |
0162: MOVWF 7C |
0163: CALL 05C |
0164: MOVLW 04 |
0165: MOVWF 73 |
0166: MOVLW FA |
0167: MOVWF 75 |
0168: CALL 088 |
0169: DECFSZ 73,F |
016A: GOTO 166 |
.................... //oba pasy |
.................... FL; FR; Delay_ms(1000); STOPL; STOPR; Delay_ms(1000); |
016B: BSF 03.5 |
016C: BCF 06.7 |
016D: BCF 03.5 |
016E: BCF 06.7 |
016F: BSF 03.5 |
0170: BCF 06.6 |
0171: BCF 03.5 |
0172: BSF 06.6 |
0173: BSF 03.5 |
0174: BCF 06.5 |
0175: BCF 03.5 |
0176: BCF 06.5 |
0177: BSF 03.5 |
0178: BCF 06.4 |
0179: BCF 03.5 |
017A: BSF 06.4 |
017B: MOVLW 04 |
017C: MOVWF 73 |
017D: MOVLW FA |
017E: MOVWF 75 |
017F: CALL 088 |
0180: DECFSZ 73,F |
0181: GOTO 17D |
0182: BSF 03.5 |
0183: BCF 06.6 |
0184: BCF 03.5 |
0185: BCF 06.6 |
0186: BSF 03.5 |
0187: BCF 06.7 |
0188: BCF 03.5 |
0189: BCF 06.7 |
018A: BSF 03.5 |
018B: BCF 06.4 |
018C: BCF 03.5 |
018D: BCF 06.4 |
018E: BSF 03.5 |
018F: BCF 06.5 |
0190: BCF 03.5 |
0191: BCF 06.5 |
0192: MOVLW 04 |
0193: MOVWF 73 |
0194: MOVLW FA |
0195: MOVWF 75 |
0196: CALL 088 |
0197: DECFSZ 73,F |
0198: GOTO 194 |
.................... BL; BR; Delay_ms(1000); STOPL; STOPR; Delay_ms(1000); |
0199: BSF 03.5 |
019A: BCF 06.6 |
019B: BCF 03.5 |
019C: BCF 06.6 |
019D: BSF 03.5 |
019E: BCF 06.7 |
019F: BCF 03.5 |
01A0: BSF 06.7 |
01A1: BSF 03.5 |
01A2: BCF 06.4 |
01A3: BCF 03.5 |
01A4: BCF 06.4 |
01A5: BSF 03.5 |
01A6: BCF 06.5 |
01A7: BCF 03.5 |
01A8: BSF 06.5 |
01A9: MOVLW 04 |
01AA: MOVWF 73 |
01AB: MOVLW FA |
01AC: MOVWF 75 |
01AD: CALL 088 |
01AE: DECFSZ 73,F |
01AF: GOTO 1AB |
01B0: BSF 03.5 |
01B1: BCF 06.6 |
01B2: BCF 03.5 |
01B3: BCF 06.6 |
01B4: BSF 03.5 |
01B5: BCF 06.7 |
01B6: BCF 03.5 |
01B7: BCF 06.7 |
01B8: BSF 03.5 |
01B9: BCF 06.4 |
01BA: BCF 03.5 |
01BB: BCF 06.4 |
01BC: BSF 03.5 |
01BD: BCF 06.5 |
01BE: BCF 03.5 |
01BF: BCF 06.5 |
01C0: MOVLW 04 |
01C1: MOVWF 73 |
01C2: MOVLW FA |
01C3: MOVWF 75 |
01C4: CALL 088 |
01C5: DECFSZ 73,F |
01C6: GOTO 1C2 |
.................... }; |
01C7: GOTO 09D |
.................... while (input(DIAG_SENSORS)) |
.................... { |
01C8: BSF 03.5 |
01C9: BSF 06.2 |
01CA: BCF 03.5 |
01CB: BTFSS 06.2 |
01CC: GOTO 1FB |
.................... if (RSENSOR) beep(900,500); |
01CD: BSF 03.5 |
01CE: BTFSS 1C.7 |
01CF: GOTO 1DB |
01D0: MOVLW 03 |
01D1: MOVWF 75 |
01D2: MOVLW 84 |
01D3: MOVWF 74 |
01D4: MOVLW 01 |
01D5: MOVWF 7D |
01D6: MOVLW F4 |
01D7: MOVWF 7C |
01D8: BCF 03.5 |
01D9: CALL 05C |
01DA: BSF 03.5 |
.................... if (LSENSOR) beep(800,500); |
01DB: BTFSS 1C.6 |
01DC: GOTO 1E8 |
01DD: MOVLW 03 |
01DE: MOVWF 75 |
01DF: MOVLW 20 |
01E0: MOVWF 74 |
01E1: MOVLW 01 |
01E2: MOVWF 7D |
01E3: MOVLW F4 |
01E4: MOVWF 7C |
01E5: BCF 03.5 |
01E6: CALL 05C |
01E7: BSF 03.5 |
.................... if ((read_adc(ADC_READ_ONLY)<BUMPER_TRESHOLD)) beep(1000,500); |
01E8: BCF 03.5 |
01E9: BTFSS 1F.2 |
01EA: GOTO 1ED |
01EB: BSF 03.5 |
01EC: GOTO 1E8 |
01ED: MOVF 1E,W |
01EE: SUBLW 7F |
01EF: BTFSS 03.0 |
01F0: GOTO 1FA |
01F1: MOVLW 03 |
01F2: MOVWF 75 |
01F3: MOVLW E8 |
01F4: MOVWF 74 |
01F5: MOVLW 01 |
01F6: MOVWF 7D |
01F7: MOVLW F4 |
01F8: MOVWF 7C |
01F9: CALL 05C |
.................... }; |
01FA: GOTO 1C8 |
.................... } |
01FB: BCF 0A.3 |
01FC: GOTO 596 (RETURN) |
.................... /////////////////////////////////////////////////////////////////////////////// |
.................... void cikcak() |
.................... { |
.................... unsigned int16 n; |
.................... sem1: |
.................... n=CIK_CAK; |
01FD: MOVLW 75 |
01FE: MOVWF 75 |
01FF: MOVLW 30 |
0200: MOVWF 74 |
.................... while (0==RSENSOR||LSENSOR) // zkontroluj caru |
.................... { |
0201: MOVLW 00 |
0202: BSF 03.5 |
0203: BTFSC 1C.7 |
0204: MOVLW 01 |
0205: XORLW 00 |
0206: BTFSC 03.2 |
0207: GOTO 20A |
0208: BTFSS 1C.6 |
0209: GOTO 264 |
.................... if (n==CIK_CAK) // zmen smer zataceni |
020A: MOVF 74,W |
020B: SUBLW 30 |
020C: BTFSS 03.2 |
020D: GOTO 25E |
020E: MOVF 75,W |
020F: SUBLW 75 |
0210: BTFSS 03.2 |
0211: GOTO 25E |
.................... { |
.................... n=0; |
0212: CLRF 75 |
0213: CLRF 74 |
.................... switch(movement) |
.................... { |
0214: BCF 03.5 |
0215: MOVF 45,W |
0216: XORLW 02 |
0217: BTFSC 03.2 |
0218: GOTO 220 |
0219: XORLW 03 |
021A: BTFSC 03.2 |
021B: GOTO 233 |
021C: XORLW 02 |
021D: BTFSC 03.2 |
021E: GOTO 246 |
021F: GOTO 25D |
.................... case L: |
.................... FL;BR; |
0220: BSF 03.5 |
0221: BCF 06.7 |
0222: BCF 03.5 |
0223: BCF 06.7 |
0224: BSF 03.5 |
0225: BCF 06.6 |
0226: BCF 03.5 |
0227: BSF 06.6 |
0228: BSF 03.5 |
0229: BCF 06.4 |
022A: BCF 03.5 |
022B: BCF 06.4 |
022C: BSF 03.5 |
022D: BCF 06.5 |
022E: BCF 03.5 |
022F: BSF 06.5 |
.................... movement=R; |
0230: MOVLW 01 |
0231: MOVWF 45 |
.................... break; |
0232: GOTO 25D |
.................... case R: |
.................... FR;BL; |
0233: BSF 03.5 |
0234: BCF 06.5 |
0235: BCF 03.5 |
0236: BCF 06.5 |
0237: BSF 03.5 |
0238: BCF 06.4 |
0239: BCF 03.5 |
023A: BSF 06.4 |
023B: BSF 03.5 |
023C: BCF 06.6 |
023D: BCF 03.5 |
023E: BCF 06.6 |
023F: BSF 03.5 |
0240: BCF 06.7 |
0241: BCF 03.5 |
0242: BSF 06.7 |
.................... movement=L; |
0243: MOVLW 02 |
0244: MOVWF 45 |
.................... break; |
0245: GOTO 25D |
.................... case S: |
.................... FL;BR; |
0246: BSF 03.5 |
0247: BCF 06.7 |
0248: BCF 03.5 |
0249: BCF 06.7 |
024A: BSF 03.5 |
024B: BCF 06.6 |
024C: BCF 03.5 |
024D: BSF 06.6 |
024E: BSF 03.5 |
024F: BCF 06.4 |
0250: BCF 03.5 |
0251: BCF 06.4 |
0252: BSF 03.5 |
0253: BCF 06.5 |
0254: BCF 03.5 |
0255: BSF 06.5 |
.................... movement=R; |
0256: MOVLW 01 |
0257: MOVWF 45 |
.................... n=CIK_CAK/2; |
0258: MOVLW 3A |
0259: MOVWF 75 |
025A: MOVLW 98 |
025B: MOVWF 74 |
.................... break; |
025C: GOTO 25D |
025D: BSF 03.5 |
.................... } |
.................... } |
.................... n++; |
025E: INCF 74,F |
025F: BTFSC 03.2 |
0260: INCF 75,F |
.................... } |
0261: BCF 03.5 |
0262: GOTO 201 |
0263: BSF 03.5 |
.................... STOPL;STOPR; |
0264: BCF 06.6 |
0265: BCF 03.5 |
0266: BCF 06.6 |
0267: BSF 03.5 |
0268: BCF 06.7 |
0269: BCF 03.5 |
026A: BCF 06.7 |
026B: BSF 03.5 |
026C: BCF 06.4 |
026D: BCF 03.5 |
026E: BCF 06.4 |
026F: BSF 03.5 |
0270: BCF 06.5 |
0271: BCF 03.5 |
0272: BCF 06.5 |
.................... line = RSENSOR; // cteni senzoru na caru |
0273: CLRF 41 |
0274: BSF 03.5 |
0275: BTFSS 1C.7 |
0276: GOTO 27A |
0277: BCF 03.5 |
0278: INCF 41,F |
0279: BSF 03.5 |
.................... line |= LSENSOR << 1; |
027A: MOVLW 00 |
027B: BTFSC 1C.6 |
027C: MOVLW 01 |
027D: MOVWF 77 |
027E: BCF 03.0 |
027F: RLF 77,F |
0280: MOVF 77,W |
0281: BCF 03.5 |
0282: IORWF 41,F |
.................... if (line==0) goto sem1; |
0283: MOVF 41,F |
0284: BTFSC 03.2 |
0285: GOTO 1FD |
.................... // nasli jsme caru |
.................... line=S; |
0286: MOVLW 03 |
0287: MOVWF 41 |
.................... } |
0288: RETLW 00 |
.................... /////////////////////////////////////////////////////////////////////////////// |
.................... void objizdka() // objede cihlu |
.................... { |
.................... unsigned int16 n; |
.................... |
.................... BL;BR;Delay_ms(200); |
0289: BSF 03.5 |
028A: BCF 06.6 |
028B: BCF 03.5 |
028C: BCF 06.6 |
028D: BSF 03.5 |
028E: BCF 06.7 |
028F: BCF 03.5 |
0290: BSF 06.7 |
0291: BSF 03.5 |
0292: BCF 06.4 |
0293: BCF 03.5 |
0294: BCF 06.4 |
0295: BSF 03.5 |
0296: BCF 06.5 |
0297: BCF 03.5 |
0298: BSF 06.5 |
0299: MOVLW C8 |
029A: MOVWF 75 |
029B: CALL 088 |
.................... STOPR;STOPL; |
029C: BSF 03.5 |
029D: BCF 06.4 |
029E: BCF 03.5 |
029F: BCF 06.4 |
02A0: BSF 03.5 |
02A1: BCF 06.5 |
02A2: BCF 03.5 |
02A3: BCF 06.5 |
02A4: BSF 03.5 |
02A5: BCF 06.6 |
02A6: BCF 03.5 |
02A7: BCF 06.6 |
02A8: BSF 03.5 |
02A9: BCF 06.7 |
02AA: BCF 03.5 |
02AB: BCF 06.7 |
.................... beep(900,1000); |
02AC: MOVLW 03 |
02AD: MOVWF 75 |
02AE: MOVLW 84 |
02AF: MOVWF 74 |
02B0: MOVLW 03 |
02B1: MOVWF 7D |
02B2: MOVLW E8 |
02B3: MOVWF 7C |
02B4: CALL 05C |
.................... // movement=S; |
.................... //cikcak(); |
.................... |
.................... BL; FR; Delay_ms(215); // otoc se 70° do leva |
02B5: BSF 03.5 |
02B6: BCF 06.6 |
02B7: BCF 03.5 |
02B8: BCF 06.6 |
02B9: BSF 03.5 |
02BA: BCF 06.7 |
02BB: BCF 03.5 |
02BC: BSF 06.7 |
02BD: BSF 03.5 |
02BE: BCF 06.5 |
02BF: BCF 03.5 |
02C0: BCF 06.5 |
02C1: BSF 03.5 |
02C2: BCF 06.4 |
02C3: BCF 03.5 |
02C4: BSF 06.4 |
02C5: MOVLW D7 |
02C6: MOVWF 75 |
02C7: CALL 088 |
.................... |
.................... FR; FL; Delay_ms(600); // popojed rovne |
02C8: BSF 03.5 |
02C9: BCF 06.5 |
02CA: BCF 03.5 |
02CB: BCF 06.5 |
02CC: BSF 03.5 |
02CD: BCF 06.4 |
02CE: BCF 03.5 |
02CF: BSF 06.4 |
02D0: BSF 03.5 |
02D1: BCF 06.7 |
02D2: BCF 03.5 |
02D3: BCF 06.7 |
02D4: BSF 03.5 |
02D5: BCF 06.6 |
02D6: BCF 03.5 |
02D7: BSF 06.6 |
02D8: MOVLW 03 |
02D9: MOVWF 73 |
02DA: MOVLW C8 |
02DB: MOVWF 75 |
02DC: CALL 088 |
02DD: DECFSZ 73,F |
02DE: GOTO 2DA |
.................... |
.................... BR; Delay_ms(50); // otoc se 90° do prava |
02DF: BSF 03.5 |
02E0: BCF 06.4 |
02E1: BCF 03.5 |
02E2: BCF 06.4 |
02E3: BSF 03.5 |
02E4: BCF 06.5 |
02E5: BCF 03.5 |
02E6: BSF 06.5 |
02E7: MOVLW 32 |
02E8: MOVWF 75 |
02E9: CALL 088 |
.................... STOPR; FL; Delay_ms(600); |
02EA: BSF 03.5 |
02EB: BCF 06.4 |
02EC: BCF 03.5 |
02ED: BCF 06.4 |
02EE: BSF 03.5 |
02EF: BCF 06.5 |
02F0: BCF 03.5 |
02F1: BCF 06.5 |
02F2: BSF 03.5 |
02F3: BCF 06.7 |
02F4: BCF 03.5 |
02F5: BCF 06.7 |
02F6: BSF 03.5 |
02F7: BCF 06.6 |
02F8: BCF 03.5 |
02F9: BSF 06.6 |
02FA: MOVLW 03 |
02FB: MOVWF 73 |
02FC: MOVLW C8 |
02FD: MOVWF 75 |
02FE: CALL 088 |
02FF: DECFSZ 73,F |
0300: GOTO 2FC |
.................... |
.................... FR; FL; Delay_ms(100); // popojed rovne na slepo |
0301: BSF 03.5 |
0302: BCF 06.5 |
0303: BCF 03.5 |
0304: BCF 06.5 |
0305: BSF 03.5 |
0306: BCF 06.4 |
0307: BCF 03.5 |
0308: BSF 06.4 |
0309: BSF 03.5 |
030A: BCF 06.7 |
030B: BCF 03.5 |
030C: BCF 06.7 |
030D: BSF 03.5 |
030E: BCF 06.6 |
030F: BCF 03.5 |
0310: BSF 06.6 |
0311: MOVLW 64 |
0312: MOVWF 75 |
0313: CALL 088 |
.................... for(n=600;n>0;n--) // popojed rovne ale kontroluj caru |
0314: MOVLW 02 |
0315: MOVWF 72 |
0316: MOVLW 58 |
0317: MOVWF 71 |
0318: MOVF 71,F |
0319: BTFSS 03.2 |
031A: GOTO 31E |
031B: MOVF 72,F |
031C: BTFSC 03.2 |
031D: GOTO 33D |
.................... { |
.................... line = RSENSOR; // cteni senzoru na caru |
031E: CLRF 41 |
031F: BSF 03.5 |
0320: BTFSS 1C.7 |
0321: GOTO 325 |
0322: BCF 03.5 |
0323: INCF 41,F |
0324: BSF 03.5 |
.................... line |= LSENSOR << 1; |
0325: MOVLW 00 |
0326: BTFSC 1C.6 |
0327: MOVLW 01 |
0328: MOVWF 77 |
0329: BCF 03.0 |
032A: RLF 77,F |
032B: MOVF 77,W |
032C: BCF 03.5 |
032D: IORWF 41,F |
.................... if (line!=0) {Delay_ms(50); break;} // kdyz narazis na caru, za chvili zastav |
032E: MOVF 41,F |
032F: BTFSC 03.2 |
0330: GOTO 335 |
0331: MOVLW 32 |
0332: MOVWF 75 |
0333: CALL 088 |
0334: GOTO 33D |
.................... Delay_ms(1); |
0335: MOVLW 01 |
0336: MOVWF 75 |
0337: CALL 088 |
.................... } |
0338: MOVF 71,W |
0339: BTFSC 03.2 |
033A: DECF 72,F |
033B: DECF 71,F |
033C: GOTO 318 |
.................... |
.................... BL; // otoc se 60° do leva |
033D: BSF 03.5 |
033E: BCF 06.6 |
033F: BCF 03.5 |
0340: BCF 06.6 |
0341: BSF 03.5 |
0342: BCF 06.7 |
0343: BCF 03.5 |
0344: BSF 06.7 |
.................... for(n=600;n>0;n--) |
0345: MOVLW 02 |
0346: MOVWF 72 |
0347: MOVLW 58 |
0348: MOVWF 71 |
0349: MOVF 71,F |
034A: BTFSS 03.2 |
034B: GOTO 34F |
034C: MOVF 72,F |
034D: BTFSC 03.2 |
034E: GOTO 36A |
.................... { |
.................... line = RSENSOR; // cteni senzoru na caru |
034F: CLRF 41 |
0350: BSF 03.5 |
0351: BTFSS 1C.7 |
0352: GOTO 356 |
0353: BCF 03.5 |
0354: INCF 41,F |
0355: BSF 03.5 |
.................... line |= LSENSOR << 1; |
0356: MOVLW 00 |
0357: BTFSC 1C.6 |
0358: MOVLW 01 |
0359: MOVWF 77 |
035A: BCF 03.0 |
035B: RLF 77,F |
035C: MOVF 77,W |
035D: BCF 03.5 |
035E: IORWF 41,F |
.................... if (line!=0) break; |
035F: MOVF 41,F |
0360: BTFSS 03.2 |
0361: GOTO 36A |
.................... Delay_ms(1); |
0362: MOVLW 01 |
0363: MOVWF 75 |
0364: CALL 088 |
.................... } |
0365: MOVF 71,W |
0366: BTFSC 03.2 |
0367: DECF 72,F |
0368: DECF 71,F |
0369: GOTO 349 |
.................... STOPR; STOPL; |
036A: BSF 03.5 |
036B: BCF 06.4 |
036C: BCF 03.5 |
036D: BCF 06.4 |
036E: BSF 03.5 |
036F: BCF 06.5 |
0370: BCF 03.5 |
0371: BCF 06.5 |
0372: BSF 03.5 |
0373: BCF 06.6 |
0374: BCF 03.5 |
0375: BCF 06.6 |
0376: BSF 03.5 |
0377: BCF 06.7 |
0378: BCF 03.5 |
0379: BCF 06.7 |
.................... |
.................... movement=R; |
037A: MOVLW 01 |
037B: MOVWF 45 |
.................... cikcak(); |
037C: CALL 1FD |
.................... dira=0; |
037D: CLRF 46 |
.................... } |
037E: BCF 0A.3 |
037F: GOTO 5C6 (RETURN) |
.................... /////////////////////////////////////////////////////////////////////////////// |
.................... void prejeddiru() // vyresi diru |
.................... { |
.................... unsigned int16 n; |
.................... unsigned int8 speed_dira; |
.................... |
.................... STOPL;STOPR; |
0380: BSF 03.5 |
0381: BCF 06.6 |
0382: BCF 03.5 |
0383: BCF 06.6 |
0384: BSF 03.5 |
0385: BCF 06.7 |
0386: BCF 03.5 |
0387: BCF 06.7 |
0388: BSF 03.5 |
0389: BCF 06.4 |
038A: BCF 03.5 |
038B: BCF 06.4 |
038C: BSF 03.5 |
038D: BCF 06.5 |
038E: BCF 03.5 |
038F: BCF 06.5 |
.................... speed_dira=speed; |
0390: MOVF 42,W |
0391: MOVWF 73 |
.................... beep(1000,500); |
0392: MOVLW 03 |
0393: MOVWF 75 |
0394: MOVLW E8 |
0395: MOVWF 74 |
0396: MOVLW 01 |
0397: MOVWF 7D |
0398: MOVLW F4 |
0399: MOVWF 7C |
039A: CALL 05C |
.................... switch (movement) //vrat se zpet na caru |
.................... { |
039B: MOVF 45,W |
039C: XORLW 02 |
039D: BTFSC 03.2 |
039E: GOTO 3A6 |
039F: XORLW 03 |
03A0: BTFSC 03.2 |
03A1: GOTO 3DE |
03A2: XORLW 02 |
03A3: BTFSC 03.2 |
03A4: GOTO 416 |
03A5: GOTO 418 |
.................... case L: |
.................... for (n=COUVANI;n>0;n--) {GO(R,B,speed_dira); Delay_ms(1);} |
03A6: MOVLW 02 |
03A7: MOVWF 72 |
03A8: MOVLW 58 |
03A9: MOVWF 71 |
03AA: MOVF 71,F |
03AB: BTFSS 03.2 |
03AC: GOTO 3B0 |
03AD: MOVF 72,F |
03AE: BTFSC 03.2 |
03AF: GOTO 3CD |
03B0: MOVF 01,W |
03B1: SUBWF 73,W |
03B2: BTFSS 03.0 |
03B3: GOTO 3BD |
03B4: BSF 03.5 |
03B5: BCF 06.4 |
03B6: BCF 03.5 |
03B7: BCF 06.4 |
03B8: BSF 03.5 |
03B9: BCF 06.5 |
03BA: BCF 03.5 |
03BB: BSF 06.5 |
03BC: GOTO 3C5 |
03BD: BSF 03.5 |
03BE: BCF 06.4 |
03BF: BCF 03.5 |
03C0: BCF 06.4 |
03C1: BSF 03.5 |
03C2: BCF 06.5 |
03C3: BCF 03.5 |
03C4: BCF 06.5 |
03C5: MOVLW 01 |
03C6: MOVWF 75 |
03C7: CALL 088 |
03C8: MOVF 71,W |
03C9: BTFSC 03.2 |
03CA: DECF 72,F |
03CB: DECF 71,F |
03CC: GOTO 3AA |
.................... STOPL;STOPR; |
03CD: BSF 03.5 |
03CE: BCF 06.6 |
03CF: BCF 03.5 |
03D0: BCF 06.6 |
03D1: BSF 03.5 |
03D2: BCF 06.7 |
03D3: BCF 03.5 |
03D4: BCF 06.7 |
03D5: BSF 03.5 |
03D6: BCF 06.4 |
03D7: BCF 03.5 |
03D8: BCF 06.4 |
03D9: BSF 03.5 |
03DA: BCF 06.5 |
03DB: BCF 03.5 |
03DC: BCF 06.5 |
.................... break; |
03DD: GOTO 418 |
.................... case R: |
.................... for (n=COUVANI;n>0;n--) {GO(L,B,speed_dira); Delay_ms(1);} |
03DE: MOVLW 02 |
03DF: MOVWF 72 |
03E0: MOVLW 58 |
03E1: MOVWF 71 |
03E2: MOVF 71,F |
03E3: BTFSS 03.2 |
03E4: GOTO 3E8 |
03E5: MOVF 72,F |
03E6: BTFSC 03.2 |
03E7: GOTO 405 |
03E8: MOVF 01,W |
03E9: SUBWF 73,W |
03EA: BTFSS 03.0 |
03EB: GOTO 3F5 |
03EC: BSF 03.5 |
03ED: BCF 06.6 |
03EE: BCF 03.5 |
03EF: BCF 06.6 |
03F0: BSF 03.5 |
03F1: BCF 06.7 |
03F2: BCF 03.5 |
03F3: BSF 06.7 |
03F4: GOTO 3FD |
03F5: BSF 03.5 |
03F6: BCF 06.6 |
03F7: BCF 03.5 |
03F8: BCF 06.6 |
03F9: BSF 03.5 |
03FA: BCF 06.7 |
03FB: BCF 03.5 |
03FC: BCF 06.7 |
03FD: MOVLW 01 |
03FE: MOVWF 75 |
03FF: CALL 088 |
0400: MOVF 71,W |
0401: BTFSC 03.2 |
0402: DECF 72,F |
0403: DECF 71,F |
0404: GOTO 3E2 |
.................... STOPL;STOPR; |
0405: BSF 03.5 |
0406: BCF 06.6 |
0407: BCF 03.5 |
0408: BCF 06.6 |
0409: BSF 03.5 |
040A: BCF 06.7 |
040B: BCF 03.5 |
040C: BCF 06.7 |
040D: BSF 03.5 |
040E: BCF 06.4 |
040F: BCF 03.5 |
0410: BCF 06.4 |
0411: BSF 03.5 |
0412: BCF 06.5 |
0413: BCF 03.5 |
0414: BCF 06.5 |
.................... break; |
0415: GOTO 418 |
.................... case S: |
.................... goto sem; |
0416: GOTO 4D2 |
.................... break; |
0417: GOTO 418 |
.................... } |
.................... beep(800,500); |
0418: MOVLW 03 |
0419: MOVWF 75 |
041A: MOVLW 20 |
041B: MOVWF 74 |
041C: MOVLW 01 |
041D: MOVWF 7D |
041E: MOVLW F4 |
041F: MOVWF 7C |
0420: CALL 05C |
.................... |
.................... line=0; |
0421: CLRF 41 |
.................... FR; BL; Delay_ms(300); // otoc se na caru |
0422: BSF 03.5 |
0423: BCF 06.5 |
0424: BCF 03.5 |
0425: BCF 06.5 |
0426: BSF 03.5 |
0427: BCF 06.4 |
0428: BCF 03.5 |
0429: BSF 06.4 |
042A: BSF 03.5 |
042B: BCF 06.6 |
042C: BCF 03.5 |
042D: BCF 06.6 |
042E: BSF 03.5 |
042F: BCF 06.7 |
0430: BCF 03.5 |
0431: BSF 06.7 |
0432: MOVLW 02 |
0433: MOVWF 74 |
0434: MOVLW 96 |
0435: MOVWF 75 |
0436: CALL 088 |
0437: DECFSZ 74,F |
0438: GOTO 434 |
.................... while(line==0) |
.................... { |
0439: MOVF 41,F |
043A: BTFSS 03.2 |
043B: GOTO 44D |
.................... line = RSENSOR; // cteni senzoru na caru |
043C: CLRF 41 |
043D: BSF 03.5 |
043E: BTFSS 1C.7 |
043F: GOTO 443 |
0440: BCF 03.5 |
0441: INCF 41,F |
0442: BSF 03.5 |
.................... line |= LSENSOR << 1; |
0443: MOVLW 00 |
0444: BTFSC 1C.6 |
0445: MOVLW 01 |
0446: MOVWF 77 |
0447: BCF 03.0 |
0448: RLF 77,F |
0449: MOVF 77,W |
044A: BCF 03.5 |
044B: IORWF 41,F |
.................... } |
044C: GOTO 439 |
.................... FL;BR; Delay_ms(60); |
044D: BSF 03.5 |
044E: BCF 06.7 |
044F: BCF 03.5 |
0450: BCF 06.7 |
0451: BSF 03.5 |
0452: BCF 06.6 |
0453: BCF 03.5 |
0454: BSF 06.6 |
0455: BSF 03.5 |
0456: BCF 06.4 |
0457: BCF 03.5 |
0458: BCF 06.4 |
0459: BSF 03.5 |
045A: BCF 06.5 |
045B: BCF 03.5 |
045C: BSF 06.5 |
045D: MOVLW 3C |
045E: MOVWF 75 |
045F: CALL 088 |
.................... STOPL; STOPR; |
0460: BSF 03.5 |
0461: BCF 06.6 |
0462: BCF 03.5 |
0463: BCF 06.6 |
0464: BSF 03.5 |
0465: BCF 06.7 |
0466: BCF 03.5 |
0467: BCF 06.7 |
0468: BSF 03.5 |
0469: BCF 06.4 |
046A: BCF 03.5 |
046B: BCF 06.4 |
046C: BSF 03.5 |
046D: BCF 06.5 |
046E: BCF 03.5 |
046F: BCF 06.5 |
.................... |
.................... FL; BR; Delay_ms(500); |
0470: BSF 03.5 |
0471: BCF 06.7 |
0472: BCF 03.5 |
0473: BCF 06.7 |
0474: BSF 03.5 |
0475: BCF 06.6 |
0476: BCF 03.5 |
0477: BSF 06.6 |
0478: BSF 03.5 |
0479: BCF 06.4 |
047A: BCF 03.5 |
047B: BCF 06.4 |
047C: BSF 03.5 |
047D: BCF 06.5 |
047E: BCF 03.5 |
047F: BSF 06.5 |
0480: MOVLW 02 |
0481: MOVWF 74 |
0482: MOVLW FA |
0483: MOVWF 75 |
0484: CALL 088 |
0485: DECFSZ 74,F |
0486: GOTO 482 |
.................... STOPL; STOPR; |
0487: BSF 03.5 |
0488: BCF 06.6 |
0489: BCF 03.5 |
048A: BCF 06.6 |
048B: BSF 03.5 |
048C: BCF 06.7 |
048D: BCF 03.5 |
048E: BCF 06.7 |
048F: BSF 03.5 |
0490: BCF 06.4 |
0491: BCF 03.5 |
0492: BCF 06.4 |
0493: BSF 03.5 |
0494: BCF 06.5 |
0495: BCF 03.5 |
0496: BCF 06.5 |
.................... |
.................... Delay_ms(1000); |
0497: MOVLW 04 |
0498: MOVWF 74 |
0499: MOVLW FA |
049A: MOVWF 75 |
049B: CALL 088 |
049C: DECFSZ 74,F |
049D: GOTO 499 |
.................... |
.................... FR;FL; //popojed rovne |
049E: BSF 03.5 |
049F: BCF 06.5 |
04A0: BCF 03.5 |
04A1: BCF 06.5 |
04A2: BSF 03.5 |
04A3: BCF 06.4 |
04A4: BCF 03.5 |
04A5: BSF 06.4 |
04A6: BSF 03.5 |
04A7: BCF 06.7 |
04A8: BCF 03.5 |
04A9: BCF 06.7 |
04AA: BSF 03.5 |
04AB: BCF 06.6 |
04AC: BCF 03.5 |
04AD: BSF 06.6 |
.................... for(n=PRES_DIRU;n>0;n--) |
04AE: CLRF 72 |
04AF: MOVLW FA |
04B0: MOVWF 71 |
04B1: MOVF 71,F |
04B2: BTFSS 03.2 |
04B3: GOTO 4B7 |
04B4: MOVF 72,F |
04B5: BTFSC 03.2 |
04B6: GOTO 4D2 |
.................... { |
.................... line = RSENSOR; // cteni senzoru na caru |
04B7: CLRF 41 |
04B8: BSF 03.5 |
04B9: BTFSS 1C.7 |
04BA: GOTO 4BE |
04BB: BCF 03.5 |
04BC: INCF 41,F |
04BD: BSF 03.5 |
.................... line |= LSENSOR << 1; |
04BE: MOVLW 00 |
04BF: BTFSC 1C.6 |
04C0: MOVLW 01 |
04C1: MOVWF 77 |
04C2: BCF 03.0 |
04C3: RLF 77,F |
04C4: MOVF 77,W |
04C5: BCF 03.5 |
04C6: IORWF 41,F |
.................... if (line!=0) break; |
04C7: MOVF 41,F |
04C8: BTFSS 03.2 |
04C9: GOTO 4D2 |
.................... Delay_ms(1); |
04CA: MOVLW 01 |
04CB: MOVWF 75 |
04CC: CALL 088 |
.................... } |
04CD: MOVF 71,W |
04CE: BTFSC 03.2 |
04CF: DECF 72,F |
04D0: DECF 71,F |
04D1: GOTO 4B1 |
.................... sem: |
.................... STOPL; STOPR; |
04D2: BSF 03.5 |
04D3: BCF 06.6 |
04D4: BCF 03.5 |
04D5: BCF 06.6 |
04D6: BSF 03.5 |
04D7: BCF 06.7 |
04D8: BCF 03.5 |
04D9: BCF 06.7 |
04DA: BSF 03.5 |
04DB: BCF 06.4 |
04DC: BCF 03.5 |
04DD: BCF 06.4 |
04DE: BSF 03.5 |
04DF: BCF 06.5 |
04E0: BCF 03.5 |
04E1: BCF 06.5 |
.................... movement=S; |
04E2: MOVLW 03 |
04E3: MOVWF 45 |
.................... cikcak(); // najdi caru |
04E4: CALL 1FD |
.................... dira=0; |
04E5: CLRF 46 |
.................... } |
04E6: BCF 0A.3 |
04E7: GOTO 65C (RETURN) |
.................... /////////////////////////////////////////////////////////////////////////////// |
.................... void main() |
.................... { |
04E8: CLRF 04 |
04E9: MOVLW 1F |
04EA: ANDWF 03,F |
04EB: BSF 03.5 |
04EC: BCF 1F.4 |
04ED: BCF 1F.5 |
04EE: MOVF 1B,W |
04EF: ANDLW 80 |
04F0: MOVWF 1B |
04F1: MOVLW 07 |
04F2: MOVWF 1C |
04F3: MOVF 1C,W |
04F4: BCF 03.5 |
04F5: BCF 0D.6 |
04F6: MOVLW 60 |
04F7: BSF 03.5 |
04F8: MOVWF 0F |
.................... unsigned int16 n; // pro FOR |
.................... |
.................... STOPL; STOPR; // prepne vystupy na ovladani motoru na output a zastavi |
* |
0515: BSF 03.5 |
0516: BCF 06.6 |
0517: BCF 03.5 |
0518: BCF 06.6 |
0519: BSF 03.5 |
051A: BCF 06.7 |
051B: BCF 03.5 |
051C: BCF 06.7 |
051D: BSF 03.5 |
051E: BCF 06.4 |
051F: BCF 03.5 |
0520: BCF 06.4 |
0521: BSF 03.5 |
0522: BCF 06.5 |
0523: BCF 03.5 |
0524: BCF 06.5 |
.................... |
.................... setup_oscillator(OSC_4MHZ|OSC_INTRC); // 4 MHz interni RC oscilator |
0525: MOVLW 62 |
0526: BSF 03.5 |
0527: MOVWF 0F |
.................... |
.................... port_b_pullups(TRUE); // pullups pro piano na diagnostiku |
0528: BCF 01.7 |
.................... setup_spi(FALSE); |
0529: BCF 03.5 |
052A: BCF 14.5 |
052B: BSF 03.5 |
052C: BCF 06.2 |
052D: BSF 06.1 |
052E: BCF 06.4 |
052F: MOVLW 00 |
0530: BCF 03.5 |
0531: MOVWF 14 |
0532: BSF 03.5 |
0533: MOVWF 14 |
.................... setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1); // Casovac pro PWM |
0534: MOVF 01,W |
0535: ANDLW C7 |
0536: IORLW 08 |
0537: MOVWF 01 |
.................... |
.................... setup_timer_2(T2_DIV_BY_4,255,10); // Casovac pro regulaci |
0538: MOVLW 48 |
0539: MOVWF 78 |
053A: IORLW 05 |
053B: BCF 03.5 |
053C: MOVWF 12 |
053D: MOVLW FF |
053E: BSF 03.5 |
053F: MOVWF 12 |
.................... // preruseni kazdych 10ms |
.................... setup_adc_ports(sAN2|VSS_VDD); // nastaveni A/D prevodniku pro naraznik |
0540: BCF 1F.4 |
0541: BCF 1F.5 |
0542: MOVF 1B,W |
0543: ANDLW 80 |
0544: IORLW 04 |
0545: MOVWF 1B |
.................... setup_adc(ADC_CLOCK_INTERNAL); |
0546: BCF 1F.6 |
0547: BCF 03.5 |
0548: BSF 1F.6 |
0549: BSF 1F.7 |
054A: BSF 03.5 |
054B: BCF 1F.7 |
054C: BCF 03.5 |
054D: BSF 1F.0 |
.................... set_adc_channel(2); |
054E: MOVLW 10 |
054F: MOVWF 78 |
0550: MOVF 1F,W |
0551: ANDLW C7 |
0552: IORWF 78,W |
0553: MOVWF 1F |
.................... setup_timer_1(T1_INTERNAL|T1_DIV_BY_1); // Casovac pro naraznik |
0554: MOVLW 85 |
0555: MOVWF 10 |
.................... setup_ccp1(CCP_COMPARE_RESET_TIMER); |
0556: BSF 03.5 |
0557: BSF 06.3 |
0558: MOVLW 0B |
0559: BCF 03.5 |
055A: MOVWF 17 |
.................... CCP_1=(2^10)-1; // prevod kazdou 1ms |
055B: CLRF 16 |
055C: MOVLW 07 |
055D: MOVWF 15 |
.................... |
.................... setup_comparator(A0_VR_A1_VR); // inicializace komparatoru pro cidla cary |
055E: MOVLW 02 |
055F: BSF 03.5 |
0560: MOVWF 1C |
0561: MOVF 05,W |
0562: IORLW 03 |
0563: MOVWF 05 |
0564: MOVLW 03 |
0565: MOVWF 77 |
0566: DECFSZ 77,F |
0567: GOTO 566 |
0568: MOVF 1C,W |
0569: BCF 03.5 |
056A: BCF 0D.6 |
.................... setup_vref(VREF_HIGH|TRESHOLD); // 32 kroku od 0.25 do 0.75 Vdd |
056B: MOVLW 8A |
056C: BSF 03.5 |
056D: MOVWF 1D |
.................... |
.................... Beep(1000,200); //double beep |
056E: MOVLW 03 |
056F: MOVWF 75 |
0570: MOVLW E8 |
0571: MOVWF 74 |
0572: CLRF 7D |
0573: MOVLW C8 |
0574: MOVWF 7C |
0575: BCF 03.5 |
0576: CALL 05C |
.................... Delay_ms(50); |
0577: MOVLW 32 |
0578: MOVWF 75 |
0579: CALL 088 |
.................... Beep(1000,200); |
057A: MOVLW 03 |
057B: MOVWF 75 |
057C: MOVLW E8 |
057D: MOVWF 74 |
057E: CLRF 7D |
057F: MOVLW C8 |
0580: MOVWF 7C |
0581: CALL 05C |
.................... Delay_ms(1000); // 1s |
0582: MOVLW 04 |
0583: MOVWF 71 |
0584: MOVLW FA |
0585: MOVWF 75 |
0586: CALL 088 |
0587: DECFSZ 71,F |
0588: GOTO 584 |
.................... |
.................... // povoleni rizeni rychlosti zataceni pres preruseni |
.................... enable_interrupts(INT_TIMER2); |
0589: BSF 03.5 |
058A: BSF 0C.1 |
.................... enable_interrupts(GLOBAL); |
058B: MOVLW C0 |
058C: BCF 03.5 |
058D: IORWF 0B,F |
.................... |
.................... /*---------------------------------------------------------------------------*/ |
.................... sensors=S; |
058E: MOVLW 03 |
058F: MOVWF 40 |
.................... line=S; |
0590: MOVWF 41 |
.................... last=S; |
0591: MOVWF 44 |
.................... movement=S; |
0592: MOVWF 45 |
.................... speed=FW_POMALU; |
0593: MOVLW E6 |
0594: MOVWF 42 |
.................... |
.................... diagnostika(); |
0595: GOTO 09D |
.................... // cikcak(); // toc se, abys nasel caru |
.................... Delay_ms(500); |
0596: MOVLW 02 |
0597: MOVWF 71 |
0598: MOVLW FA |
0599: MOVWF 75 |
059A: CALL 088 |
059B: DECFSZ 71,F |
059C: GOTO 598 |
.................... Beep(1000,200); |
059D: MOVLW 03 |
059E: MOVWF 75 |
059F: MOVLW E8 |
05A0: MOVWF 74 |
05A1: CLRF 7D |
05A2: MOVLW C8 |
05A3: MOVWF 7C |
05A4: CALL 05C |
.................... Delay_ms(500); |
05A5: MOVLW 02 |
05A6: MOVWF 71 |
05A7: MOVLW FA |
05A8: MOVWF 75 |
05A9: CALL 088 |
05AA: DECFSZ 71,F |
05AB: GOTO 5A7 |
.................... |
.................... while(true) // hlavni smycka (jizda podle cary) |
.................... { |
.................... sensors = RSENSOR; // cteni senzoru na caru |
05AC: CLRF 40 |
05AD: BSF 03.5 |
05AE: BTFSS 1C.7 |
05AF: GOTO 5B3 |
05B0: BCF 03.5 |
05B1: INCF 40,F |
05B2: BSF 03.5 |
.................... sensors |= LSENSOR << 1; |
05B3: MOVLW 00 |
05B4: BTFSC 1C.6 |
05B5: MOVLW 01 |
05B6: MOVWF 77 |
05B7: BCF 03.0 |
05B8: RLF 77,F |
05B9: MOVF 77,W |
05BA: BCF 03.5 |
05BB: IORWF 40,F |
.................... |
.................... if ((read_adc(ADC_READ_ONLY)<BUMPER_TRESHOLD) && (dira<=T_CIHLA)) objizdka(); |
05BC: BTFSC 1F.2 |
05BD: GOTO 5BC |
05BE: MOVF 1E,W |
05BF: SUBLW 7F |
05C0: BTFSS 03.0 |
05C1: GOTO 5C6 |
05C2: MOVF 46,W |
05C3: SUBLW 32 |
05C4: BTFSC 03.0 |
05C5: GOTO 289 |
.................... |
.................... switch (sensors) // zatacej podle toho, kde vidis caru |
.................... { |
05C6: MOVF 40,W |
05C7: XORLW 03 |
05C8: BTFSC 03.2 |
05C9: GOTO 5D1 |
05CA: XORLW 01 |
05CB: BTFSC 03.2 |
05CC: GOTO 5E5 |
05CD: XORLW 03 |
05CE: BTFSC 03.2 |
05CF: GOTO 61E |
05D0: GOTO 657 |
.................... case S: // rovne |
.................... FL; FR; // pokud se jede dlouho rovne, tak pridej |
05D1: BSF 03.5 |
05D2: BCF 06.7 |
05D3: BCF 03.5 |
05D4: BCF 06.7 |
05D5: BSF 03.5 |
05D6: BCF 06.6 |
05D7: BCF 03.5 |
05D8: BSF 06.6 |
05D9: BSF 03.5 |
05DA: BCF 06.5 |
05DB: BCF 03.5 |
05DC: BCF 06.5 |
05DD: BSF 03.5 |
05DE: BCF 06.4 |
05DF: BCF 03.5 |
05E0: BSF 06.4 |
.................... dira=0; |
05E1: CLRF 46 |
.................... movement=S; |
05E2: MOVLW 03 |
05E3: MOVWF 45 |
.................... continue; |
05E4: GOTO 5AC |
.................... case L: // trochu vlevo |
.................... GO(L, F, FW_POMALU+rovinka); GO(R, F, FW_STREDNE+rovinka); |
05E5: MOVF 01,W |
05E6: MOVWF 71 |
05E7: MOVLW E6 |
05E8: ADDWF 43,W |
05E9: SUBWF 71,W |
05EA: BTFSC 03.2 |
05EB: GOTO 5EE |
05EC: BTFSC 03.0 |
05ED: GOTO 5F7 |
05EE: BSF 03.5 |
05EF: BCF 06.7 |
05F0: BCF 03.5 |
05F1: BCF 06.7 |
05F2: BSF 03.5 |
05F3: BCF 06.6 |
05F4: BCF 03.5 |
05F5: BSF 06.6 |
05F6: GOTO 5FF |
05F7: BSF 03.5 |
05F8: BCF 06.6 |
05F9: BCF 03.5 |
05FA: BCF 06.6 |
05FB: BSF 03.5 |
05FC: BCF 06.7 |
05FD: BCF 03.5 |
05FE: BCF 06.7 |
05FF: MOVF 01,W |
0600: MOVWF 71 |
0601: MOVLW F0 |
0602: ADDWF 43,W |
0603: SUBWF 71,W |
0604: BTFSC 03.2 |
0605: GOTO 608 |
0606: BTFSC 03.0 |
0607: GOTO 611 |
0608: BSF 03.5 |
0609: BCF 06.5 |
060A: BCF 03.5 |
060B: BCF 06.5 |
060C: BSF 03.5 |
060D: BCF 06.4 |
060E: BCF 03.5 |
060F: BSF 06.4 |
0610: GOTO 619 |
0611: BSF 03.5 |
0612: BCF 06.4 |
0613: BCF 03.5 |
0614: BCF 06.4 |
0615: BSF 03.5 |
0616: BCF 06.5 |
0617: BCF 03.5 |
0618: BCF 06.5 |
.................... line=L; |
0619: MOVLW 02 |
061A: MOVWF 41 |
.................... dira=0; |
061B: CLRF 46 |
.................... movement=L; |
061C: MOVWF 45 |
.................... continue; |
061D: GOTO 5AC |
.................... case R: // trochu vpravo |
.................... GO(R, F, FW_POMALU+rovinka); GO(L, F, FW_STREDNE+rovinka); |
061E: MOVF 01,W |
061F: MOVWF 71 |
0620: MOVLW E6 |
0621: ADDWF 43,W |
0622: SUBWF 71,W |
0623: BTFSC 03.2 |
0624: GOTO 627 |
0625: BTFSC 03.0 |
0626: GOTO 630 |
0627: BSF 03.5 |
0628: BCF 06.5 |
0629: BCF 03.5 |
062A: BCF 06.5 |
062B: BSF 03.5 |
062C: BCF 06.4 |
062D: BCF 03.5 |
062E: BSF 06.4 |
062F: GOTO 638 |
0630: BSF 03.5 |
0631: BCF 06.4 |
0632: BCF 03.5 |
0633: BCF 06.4 |
0634: BSF 03.5 |
0635: BCF 06.5 |
0636: BCF 03.5 |
0637: BCF 06.5 |
0638: MOVF 01,W |
0639: MOVWF 71 |
063A: MOVLW F0 |
063B: ADDWF 43,W |
063C: SUBWF 71,W |
063D: BTFSC 03.2 |
063E: GOTO 641 |
063F: BTFSC 03.0 |
0640: GOTO 64A |
0641: BSF 03.5 |
0642: BCF 06.7 |
0643: BCF 03.5 |
0644: BCF 06.7 |
0645: BSF 03.5 |
0646: BCF 06.6 |
0647: BCF 03.5 |
0648: BSF 06.6 |
0649: GOTO 652 |
064A: BSF 03.5 |
064B: BCF 06.6 |
064C: BCF 03.5 |
064D: BCF 06.6 |
064E: BSF 03.5 |
064F: BCF 06.7 |
0650: BCF 03.5 |
0651: BCF 06.7 |
.................... line=R; |
0652: MOVLW 01 |
0653: MOVWF 41 |
.................... dira=0; |
0654: CLRF 46 |
.................... movement=R; |
0655: MOVWF 45 |
.................... continue; |
0656: GOTO 5AC |
.................... default: // kdyz jsou obe cidla mimo caru, tak pokracuj dal |
.................... } |
.................... rovinka=0; |
0657: CLRF 43 |
.................... if (dira>=T_DIRA) prejeddiru(); |
0658: MOVF 46,W |
0659: SUBLW 56 |
065A: BTFSS 03.0 |
065B: GOTO 380 |
.................... if (last!=line) // pokud si prejel caru z jedne strany na druhou stranu, tak zabrzdi |
065C: MOVF 41,W |
065D: SUBWF 44,W |
065E: BTFSC 03.2 |
065F: GOTO 664 |
.................... { |
.................... last=line; |
0660: MOVF 41,W |
0661: MOVWF 44 |
.................... speed=FW_ZATACKA; |
0662: MOVLW C8 |
0663: MOVWF 42 |
.................... } |
.................... if (L==line) // kdyz jsou obe cidla mimo caru, zatoc na caru |
0664: MOVF 41,W |
0665: SUBLW 02 |
0666: BTFSS 03.2 |
0667: GOTO 688 |
.................... { |
.................... STOPL; |
0668: BSF 03.5 |
0669: BCF 06.6 |
066A: BCF 03.5 |
066B: BCF 06.6 |
066C: BSF 03.5 |
066D: BCF 06.7 |
066E: BCF 03.5 |
066F: BCF 06.7 |
.................... GO(R, F, speed); |
0670: MOVF 01,W |
0671: SUBWF 42,W |
0672: BTFSS 03.0 |
0673: GOTO 67D |
0674: BSF 03.5 |
0675: BCF 06.5 |
0676: BCF 03.5 |
0677: BCF 06.5 |
0678: BSF 03.5 |
0679: BCF 06.4 |
067A: BCF 03.5 |
067B: BSF 06.4 |
067C: GOTO 685 |
067D: BSF 03.5 |
067E: BCF 06.4 |
067F: BCF 03.5 |
0680: BCF 06.4 |
0681: BSF 03.5 |
0682: BCF 06.5 |
0683: BCF 03.5 |
0684: BCF 06.5 |
.................... movement=L; |
0685: MOVLW 02 |
0686: MOVWF 45 |
.................... } |
.................... else |
0687: GOTO 6A7 |
.................... { |
.................... STOPR; |
0688: BSF 03.5 |
0689: BCF 06.4 |
068A: BCF 03.5 |
068B: BCF 06.4 |
068C: BSF 03.5 |
068D: BCF 06.5 |
068E: BCF 03.5 |
068F: BCF 06.5 |
.................... GO(L, F, speed); |
0690: MOVF 01,W |
0691: SUBWF 42,W |
0692: BTFSS 03.0 |
0693: GOTO 69D |
0694: BSF 03.5 |
0695: BCF 06.7 |
0696: BCF 03.5 |
0697: BCF 06.7 |
0698: BSF 03.5 |
0699: BCF 06.6 |
069A: BCF 03.5 |
069B: BSF 06.6 |
069C: GOTO 6A5 |
069D: BSF 03.5 |
069E: BCF 06.6 |
069F: BCF 03.5 |
06A0: BCF 06.6 |
06A1: BSF 03.5 |
06A2: BCF 06.7 |
06A3: BCF 03.5 |
06A4: BCF 06.7 |
.................... movement=R; |
06A5: MOVLW 01 |
06A6: MOVWF 45 |
.................... } |
.................... } // while(true) |
06A7: GOTO 5AC |
.................... } |
.................... |
.................... |
06A8: SLEEP |
|
Configuration Fuses: |
Word 1: 3F38 NOWDT NOPUT MCLR NOBROWNOUT NOLVP NOCPD NOWRT NODEBUG CCPB0 NOPROTECT INTRC_IO |
Word 2: 3FFC NOFCMEN NOIESO |